Fuzzy Control for Person Follower FPGA based Robotic System

摘要

Robotic systems perform various tasks using image processing techniques. This paper proposes a fuzzy logic controlled robotic system for person follower behavior in an indoor environment. The robot platform used here is from National Instruments which has 120 degree rotating ultrasonic sensor and a Single-Board Reconfigurable Input-Output (SBRIO). The board has a Field Programmable Gate Array (FPGA) device and real time controller which is interfaced to an Internet Protocol (IP) camera. The robot motion is controlled using a fuzzy logic based algorithm. Higher momentum and soft control are some benefits of using fuzzy logic controller when compared to binary logic, as it assigns variable speeds to wheels. The image captured from the camera is processed using Optical Character Recognition (OCR) method and the ultrasonic sensor is used to measure the distance, avoid the obstacles. The design is done using NI-LabVIEW and the experimental results of this approach shows fast response of the robot to follow a person in a smooth manner.Keywords: FPGA, Fuzzy control, Robot, Ultrasonic sensor